Robotic platform manipulating peripeheral nerve system

Abstract

A robotic platform manipulating peripheral nerve system includes a manipulator and a recorder. The manipulator includes a rotating guide, a plurality of rotating movers and a plurality of manipulating units. The rotating guide has an opening portion through which the recorder records, and has a guide rail at a side. The rotating movers are combined with the rotating guide and move along the guide rail. The manipulating units are respectively fixed to the rotating movers, and a manipulating part performs the operation being connected to an end of each of the manipulating units.

What is claimed is: 
     
       1. A robot platform comprising:
 a manipulator performing an operation over an operating table; and 
 a recorder recording the operation through the manipulator, 
 wherein the manipulator comprises:
 a rotating guide having an opening portion through which the recorder records, and having a guide rail at a side; 
 a plurality of rotating movers combined with the rotating guide and moving along the guide rail; and 
 a plurality of manipulating units respectively fixed to the rotating movers, a manipulating part performing the operation being connected to an end of each of the manipulating units. 
 
 
     
     
       2. The robot platform of  claim 1 , wherein the rotating guide has a circular plate shape, and the rotating movers rotates with respect to a center of the rotating guide along the guide rail. 
     
     
       3. The robot platform of  claim 2 , wherein each of the rotating movers comprises:
 an upper block disposed at an upper side of the rotating guide and partially facing an upper side of the rotating guide; 
 a lower block disposed at a lower side of the rotating guide and partially facing a lower side of the rotating guide; and 
 a central block connecting the upper block with the lower block, and moving along the guide rail, the manipulating unit being fixed to a rear side of the central block. 
 
     
     
       4. The robot platform of  claim 1 , wherein each of the manipulating units further comprises an upper unit fixed to the rotating mover, and a central unit connected to the upper unit, the manipulating unit being connected to a lower side of the central unit,
 wherein each of the upper unit and the central unit has three degrees of freedom, capable of moving along a first direction X, a second direction Y and a third direction Z substantially perpendicular to one another. 
 
     
     
       5. The robot platform of  claim 4 , wherein the upper unit comprises:
 an upper connecting block fixed to the rotating mover; 
 an upper moving block moving along the third direction with respect to the upper connecting block at a rear side of the upper connecting block; and 
 a connecting frame connecting the upper moving block with the central unit. 
 
     
     
       6. The robot platform of  claim 5 , wherein the upper unit is disposed at an outside of the rotating guide, and the connecting frame extends from the outside of the rotating guide to a lower portion of the rotating guide along an inclined direction so that the central unit and the manipulating unit are disposed at an inside lower portion of the rotating guide. 
     
     
       7. The robot platform of  claim 4 , wherein the central unit comprises:
 a central connecting block connected to the upper unit and moving along the first direction with the upper unit; 
 a first moving block connected to a lower portion of the central connecting block; and 
 a second moving block moving along the second direction with respect to the first moving block at a lower portion of the first moving block. 
 
     
     
       8. The robot platform of  claim 4 , wherein the manipulating part comprises:
 a fixing unit rotating with respect to the central unit with a rotating axis of the third direction; 
 a manipulating frame rotating with respect to the fixing unit with a rotating axis of a fourth direction U; and 
 a needle unit moving along a fifth direction V with respect to the manipulating frame. 
 
     
     
       9. The robot platform of  claim 8 , wherein the fourth direction is inclined with respect to the first direction by a first angle, and the fifth direction is inclined with respect to the first direction by a second angle different from the first angle. 
     
     
       10. The robot platform of  claim 8 , wherein the fixing unit comprises:
 a pair of vertical extending portions extending along the third direction from an extending rotating portion of the central unit, the extending rotating portion rotating with respect to the third direction; 
 a horizontal extending portion connecting ends of the pair of vertical extending portions with each other; and 
 a pair of circular fixing portions fixed to a center of each of the pair of vertical extending portions, the manipulating frame passing between the pair of circular fixing portions. 
 
     
     
       11. The robot platform of  claim 8 , wherein the manipulating portion further comprises a body cover passing through and fixing the fixing unit along the fourth direction,
 wherein the manipulating frame comprises:
 a body portion passing through the body cover, and rotating with respect to the body cover with a rotating axis of the fourth direction; 
 an extending portion extending from the body portion; and 
 a sliding base forming a sliding surface along the fifth direction at an end of the extending portion. 
 
 
     
     
       12. The robot platform of  claim 8 , wherein the needle unit comprises:
 a needle base sliding along the fifth direction with respect to the manipulating frame; 
 a needle disposed on the needle base; and 
 a needle fixing portion fixing the needle. 
 
     
     
       13. The robot platform of  claim 4 , wherein the manipulating part comprises:
 a first rotating part rotating with respect to the central unit with a rotating axis of the third direction; 
 a fixing unit covering the first rotating part and extending along the third direction; 
 a manipulating frame combined with the fixing unit and rotating with respect to the second direction and a sixth direction U′; and 
 a needle unit moving along a seventh direction V′ with respect to the manipulating frame. 
 
     
     
       14. The robot platform of  claim 13 , wherein the sixth direction is inclined with respect to the first direction by a third angle, and the seventh direction is inclined with respect to the first direction by a fourth angle different from the third angle. 
     
     
       15. The robot platform of  claim 13 , wherein the manipulating frame comprises:
 a rotating body combined with an end of the fixing unit and rotating with respect to the second direction; 
 an extending portion extending along the sixth direction from the rotating body; and 
 a second rotating portion combined with the extending portion and rotating with respect to the sixth direction. 
 
     
     
       16. The robot platform of  claim 15 , wherein the manipulating frame further comprises:
 a rotating base fixed to an end surface of the second rotating portion; and 
 a sliding base forming a sliding surface from an end of the rotating base to the seventh direction. 
 
     
     
       17. The robot platform of  claim 13 , wherein the needle unit comprises:
 a needle base sliding along the seventh direction with respect to the manipulating frame; 
 a needle disposed on the needle base; and 
 a needle fixing portion fixing the needle.